Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/06—Safety devices
  • B25J19/063—Safety devices working only upon contact with an outside object
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
  • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S414/00—Material or article handling
  • Y10S414/13—Handlers utilizing parallel links
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20207—Multiple controlling elements for single controlled element
  • Y10T74/20305—Robotic arm
  • Y10T74/20317—Robotic arm including electric motor

Definitions

• the present invention relates to a multi-joint robot capable of moving at high speed, and particularly to a configuration of a plurality of arms.
• an articulated robot that moves the shortest distance between two relatively distant points, such as moving a workpiece between two machine tools, has a fixed top with a horizontal top surface as shown in Fig. 12, for example.
• 1st arm, 1st arm 2 and 1st auxiliary link 3 supported by pins 1 1 and 1 2 so that one end can be swung over fixed base
• a parallelogram link mechanism is formed by the second auxiliary link 4 which is rotatably connected to the other end of the link 3 by the pins 21 and 31 so that the first arm 2 is connected as shown by a dashed line. It turns on a horizontal plane.
• a gear 22 is fixed to the first arm 2 coaxially with the pin 21, and a second arm 5 fixed to a rotating shaft 41 that is supported at the intermediate point of the second auxiliary link 4 by itself is provided.
• a gear 42 meshing with the gear 22 is fixed to the rotating shaft 41, and when the first arm 2 turns, the second arm 5 also turns in the same direction at the same time, and two arms are driven by one drive source.
• a fixed base 1 having a horizontal upper surface and a first arm 2 that can rotate around an S 1 axis that is a rotation axis perpendicular to the upper surface of the fixed base 1 are provided. It is provided.
• a swivel base 20 that can swivel around an S2 axis parallel to the S1 axis, and the swivel base 20 is turned up and down around a U1 axis perpendicular to the S2 axis.
• a second arm 5 is provided, and a third arm 6 capable of turning around a U2 axis parallel to the U1 axis is provided at a tip of the second arm 5.
• the third arm 6 is provided with a fourth arm 7 that can rotate around an R axis extending in the longitudinal direction, and a wrist that can rotate around a B axis perpendicular to the R axis is provided at the tip of the fourth arm 7.
• the wrist 8 has a rotating part 9 that can rotate around the T axis perpendicular to the B axis (for example, US patent 4 , 6 61, 0 4 0) o
• An object of the present invention is to provide a multi-joint robot arm capable of moving at high speed with a small capacity of a driving device of a robot arm and a limited degree of freedom.
• the present invention provides an articulated robot provided with a plurality of arms on a fixed base, wherein the fixed base has a horizontal upper surface, and is supported so as to be rotatable around a pivot axis perpendicular to the upper surface of the fixed base.
• a parallelogram comprising a first arm, a first auxiliary link parallel to the first arm, and a second catching link rotatably connecting the other end of the first arm and the first auxiliary link.
• a link mechanism is formed, and a second arm is turned on the second auxiliary link so as to be able to turn around a turning axis parallel to a turning axis perpendicular to the upper surface of the fixed base, and a tip is turned to the second arm.
• a third arm movably provided, and a wrist provided at a distal end of the third arm.
• the second arm can be turned on one of the parallelogram link mechanisms including the first arm by a drive source independent of the priming source of the first arm,
• the second arm can be turned without being restricted to the turning operation of one arm, and the wrist can move linearly between two separated points.
• FIG. 1 is a plan view showing a first embodiment of the present invention
• FIG. 2 is a side view showing a first embodiment of the present invention
• FIG. 3 is a side view showing a second embodiment of the present invention.
• FIG. 4 is a plan view showing a third embodiment of the present invention
• FIG. 5 is a side view showing a fourth embodiment of the present invention
• FIG. 6 shows the operation of the fifth embodiment of the present invention.
• FIG. 7 is a plan view showing a sixth embodiment of the present invention
• FIG. 8 is a plan view showing a seventh embodiment of the present invention
• FIG. 9 is a side showing a wrist part of the present invention.
• Sectional view, FIG. 10 is a side view showing an eighth embodiment of the present invention
• FIG. 11 is a sectional side view of a main part showing an eighth embodiment of the present invention
• FIG. 12 is a conventional example.
• FIG. 13 is a side view showing a conventional example.
• FIG. 1 (a) is a plan view showing a first embodiment of the present invention
• FIG. 2 is a side view, and shows a fixed base 1 having a horizontal upper surface and a pivot axis perpendicular to the upper surface of the fixed base 1.
• S1 The first arm 2 and the first auxiliary link 3 supported by pins 11 and 12 at a distance so that one end can be turned around the axis, the first arm 2 and the first auxiliary link.
• a parallelogram link mechanism is formed by the second auxiliary link 4 having the other end rotatably connected to the second auxiliary link 3 by pins 21 and 31.
• the first arm 2 is turned on a horizontal plane about the S 1 axis of the pin 11 by the first driving motor 13 provided on the fixed base 1.
• the second auxiliary link 4 pivotally supports the rotation axis of the second drive motor 23 coaxially with the S2 axis of the pin 21, and fixes the fixed portion of the second drive motor 23 to one end of the second arm 5.
• the pot is supported.
• the other end of the second arm 5 is provided with a third drive motor 51 having a rotation axis coaxial with the U axis extending in a direction perpendicular to the S2 axis of the pin 21, and a third arm 6. Swings up and down.
• a hollow fourth arm 7 that can be rotated by a fourth drive motor 71 around an R-axis in the longitudinal direction of the third arm 6 is provided.
• a wrist portion 8 that can rotate through a hollow shaft 73 penetrating through the fourth arm 7 and a wrist gear mechanism 80 is provided around a shaft by a wrist drive motor 72.
• the wrist 8 can be rotated around the longitudinal T axis of the wrist 8 by a T-axis drive motor 75 via a T-axis shaft 74 passing through a hollow shaft 73 and a wrist gear mechanism 80.
• a rotating section 9 is provided.
• the first arm 2 is turned by the first drive motor 13, and the second arm 5 is turned by the second drive motor 23.
• the state is changed from the state of the solid line of FIG. Assuming that the turning angle of the first arm 2 is 1 and the angle between the first arm 2 and the second arm 5 is ⁇ 2, the turning angle of the second arm 5 is 2 2 ⁇ ⁇ . The angle does not change because the second auxiliary link 4 moves in parallel.
• the turning angle of the second arm 5 also becomes 1. Therefore, the turning speeds of the first arm 2 and the second arm 5 are also equal.
• FIG. 3 is a side view showing the second embodiment.
• the third auxiliary motor 4 is provided with a third drive motor 51 which swings up and down around one end of a second arm 5 on the second auxiliary link 4, and the other end of the second arm 5.
• a second drive motor 23 is provided to turn the third arm 6 in the horizontal direction, so that the second arm 5 can be moved up and down all the way from the tip of the second arm 5.
• FIG. 4 is a plan view showing the third embodiment.
• the pins 11 and 12 of the parallelogram link mechanism are used to drive the second arm parallel to the second auxiliary link 4.
• the first arm 2, the first auxiliary link 3, and the second auxiliary link 4 form a parallelogram link mechanism together with the first arm 2, the first auxiliary link 3, and the second auxiliary link 4. Also, one end of the second auxiliary link 4 is overhanged to the outside of the pin 21 to form a fork-shaped second arm 5, and the belt 24 is formed by the second drive motor 23 provided on the fixed base 1. By turning the second arm drive link 4 ′ through the second arm 5, the second arm 5 is turned. With this configuration, the weight borne by the first arm 2 can be reduced by the second drive motor. It can be made lighter and more compact by a factor of 23.
• FIG. 5 is a side view showing the fourth embodiment, which is configured as a parallelogram link mechanism by a second arm 5, a second auxiliary link 4, a lifting first auxiliary link 52, and a lifting second auxiliary link 53.
• the third arm 6 is turned on a horizontal plane by a second drive motor 23 provided on a second auxiliary link 53, and the third arm 6 is moved up and down by parallel movement. Thus, the height can be adjusted while always keeping the third arm 6 horizontal.
• FIG. 6 is an explanatory view showing the fifth embodiment, and shows a configuration in which the work held by the wrist 8 is relatively large, and in the case where the work is prevented from interfering with other objects during the movement. That is, as shown in FIG. 6 (a), if the length L1 of the first arm 2 is equal to the length L2 from the base of the second arm 5 to the wrist 8, the movement of the wrist 8 The trajectory K2 moves on a straight line K1 passing through the S1 axis. At this time, if the workpiece W is protruding from the wrist portion 8, the movement trajectory K3 of the center of the workpiece W moves on an arc that is outwardly distant from the straight line K1 passing through the S1 axis. May interfere with an object near the straight line K 1 that passes through.
• the movement trajectory K2 of the wrist portion 8 is calculated from the straight line K1 passing through the S1 axis.
• the locus is curved toward the second arm 5 and the locus K3 of the workpiece W protruding from the wrist 8 in the longitudinal direction of the second arm 5 is the locus of the straight line K1 passing through the S1 axis. Therefore, interference with an object near the straight line K 1 passing through the S 1 axis can be prevented.
• FIG. 7 is a plan view showing the sixth embodiment, and shows a configuration in which the unbalance moment at the moving position of the wrist 8 is reduced. That is, one end of a balancer 10 composed of a panel device is rotatably connected via a pin 14 at a position eccentric from the center of the fixed base 1 with respect to the moving direction of the wrist portion 8. The other end is rotatably connected to a pin 21 connecting the first arm 2 and the second arm 5.
• the wrist 8 when the wrist 8 reciprocates between the points P and Q, the wrist 8 has the S1 axis.
• the load tends to be somewhat increased due to the balancer 10 panel, but the balancer 10 panel is not extended so much that the load torque is not much affected.
• the first drive motor 13 when approaching the point P or the point Q, the first drive motor 13 is in a period of deceleration.At this time, the panel of the balancer 10 is greatly extended, and the rotation of the first arm 2 is suppressed. Since the deceleration of motor 13 is promoted, the load for deceleration is reduced.
• the balancer 10 uses the panel of the balancer 10 for acceleration.
• the load becomes lighter.
• FIG. 8 is a plan view showing the seventh embodiment, in which a first wrist link 81 extending on an extension of the third arm 6 fixed to the wrist portion 8 and a rotation provided rotatably on the wrist portion 8 are shown.
• the second wrist link 82 fixed to the part 9, the third wrist link 83 connected to the tip of the first wrist link 81 so as to be rotatable, the second wrist link 82 and the third wrist link
• a fourth wrist link 8 is provided with a pin connected to the tip of 83 and is parallel to the first wrist link 81 to form a parallelogram wrist link mechanism.
• the second wrist link 82 extends through a hollow shaft 73 provided in the fourth arm 7 by a T-axis drive motor 75 provided behind the third arm 6.
• the wrist gear mechanism 80 is connected between the hollow shaft 73 and the wrist section 8 by a combination mechanism of a plurality of bevel gears, so that the wrist mechanism 8 rotates around the B axis perpendicular to the R axis.
• the rotating shaft 9 and the rotating unit 9 are connected by a plurality of bevel gear engagement mechanisms, so that the rotating unit 9 rotates around the T axis perpendicular to the B axis of the wrist unit 8. It is made to rotate.
• a grip device 85 for gripping the park W is fixed to the first wrist link 81 side of the third wrist link 83.
• the first arm 2 and the second arm 5 are rotated, and the second wrist link 82 is rotated by the T-axis drive motor 75.
• the gripping device 85 via the parallelogram wrist link mechanism.
• the work W held by the holding device 85 can be moved while maintaining the posture of the work W always in a fixed direction with respect to the moving direction, as shown by the dashed line in FIG.
• FIG. 10 is a side view showing the eighth embodiment, in which a shock sensor 91 and a float are provided between the wrist portion 8 and the first wrist link 81 and between the rotating portion 9 and the second wrist link 82.
• a shock sensor 91 and a float are provided between the wrist portion 8 and the first wrist link 81 and between the rotating portion 9 and the second wrist link 82.
• the float mechanism 86 has a sliding portion 861 that can slide up and down below the wrist portion 8 and is fixed to the first wrist link 81.
• the sliding portion 861 is provided with a flange portion 862, and a compression panel 863 is provided between the lower surface of the wrist portion 8 and the flange portion 862.
• a casing 864 is provided at the lower end of the wrist 8 to surround the compression panel 863, and a receiving plate 865 is provided at the lower end of the casing 864, facing the lower surface of the flange 862. I have to do it.
• Concave portions 866 and 865 are provided on opposing surfaces of the receiving plate 865 and the flange portion 826, respectively, and the engaging sphere 886 is housed therein. Both ends of a coil-shaped return panel 869 are fixed to the wrist 8 and the sliding portion 861, respectively.
• the float mechanism 87 has a support shaft 871, which is fixed to the second wrist link 82 with an interval at the tip of a rotating portion 9 that rotates around the T axis of the wrist portion 8.
• the support shaft 871 is provided with a disk-shaped flange portion 872, which protrudes from the outer periphery and has a plurality of inclined portions on the lower surface which are inclined in both directions.
• a compression spring 874 is provided between the tip of the rotating part 9 and the flange part 872.
• a guide ring 875 surrounding the flange 872 is provided at the end of the rotating portion 9, and a receiving plate 876 protruding inward is provided below the guide ring 875.
• a recess 877 with the same inclination angle as the slope of the projection 873 is provided on the surface of the receiving plate 876 facing the flange 887 2 to engage and support the projection 873. are doing. Both ends of a coil-shaped return panel 878 are fixed to the rotating part 9 and the support shaft 871, respectively. If an excessive force acts on the first wrist link 8 1 in the moving direction of the wrist 8, the sliding portion 8 6 1 together with the first wrist link 8 1 rotates around the T axis relative to the wrist 8. Return spring 8 6 9 Try to rotate against.
• the engaging ball 8 8 6 engaged with the concave portion 8 6 6 of the flange portion 8 6 2 and the concave portion 8 6 5 provided on the casing 8 6 4 fixed to the wrist portion 8 becomes the concave portion 8 6 6 .
• the engaging ball 886 can freely roll and the first wrist link 81 can freely rotate around the T axis.
• the sliding portion 861 moves in the axial direction against the compression panel 863 by the engaging ball 886 to operate the shock sensor 91 and output the first wrist link 8 by the output of the shock sensor. Stop the operation of 1.
• the supporting shaft 871 when an excessive force is applied to the second wrist link 82, the supporting shaft 871, together with the second wrist link 82, is relatively opposed to the rotating shaft 9 against the return panel 8778. Try to rotate. At this time, the protrusion 873 of the flange 8872 moves in the circumferential direction and the axial direction along the slope from the recess 877, and the engagement between the protrusion 873 and the recess 877 is released. However, the flange 872 and the support shaft 871 are freely rotatable. At this time, the flange portion 872 moves in the axial direction, operates the shock sensor 91, and stops the rotation of the rotating portion 9.
• the flange 887 2 is rotated in the reverse direction by the return panel 878, and the projection 873 is housed in the recess 877 and the second wrist link 8 2 returns to the original position.
• the second arm can be turned on one of the parallelogram link mechanisms including the first arm by the drive source independent of the drive source of the first arm.
• the first arm since G D2 around the S2 axis is not loaded on the S1 axis, the torque for driving the S1 axis is considerably smaller than before, and the drive motor for the second arm is reduced. Since it can be installed on a fixed base, the load on the first arm can be reduced, the capacity of the drive unit can be reduced, the degree of freedom is not limited, and a multi-joint robot that can move two remote points at high speed Can be provided.
• the work can be moved close to a straight line and moved on the trajectory to prevent interference with other objects. Also, since the balancer is provided between the first arm and the fixed base, the load on the drive motor of the first arm can be reduced. Furthermore, since a work gripping device is provided on the wrist via a parallelogram wrist link mechanism, there is an effect that the work can be constantly maintained in the moving direction while maintaining a constant posture.
• shock sensor and the float mechanism are provided between the wrist and the first wrist link and between the rotating part and the second wrist link.
• the present invention can be used in a field using an industrial robot that transports a workpiece according to a programmed path between stations.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)

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Applications Claiming Priority (2)

Publications (1)

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ID=12919037

Family Applications (1)

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Citations (6)

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• 1993
  • 1993-09-20 US US08/232,056 patent/US5577414A/en not_active Expired - Lifetime
  • 1993-09-20 WO PCT/JP1993/001345 patent/WO1995006546A1/ja active IP Right Grant
  • 1993-09-20 DE DE69317574T patent/DE69317574T2/de not_active Expired - Lifetime
  • 1993-09-20 EP EP93919686A patent/EP0667214B1/de not_active Expired - Lifetime
  • 1993-09-20 KR KR1019940701492A patent/KR100292539B1/ko not_active IP Right Cessation

Patent Citations (6)

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